In Legends, Yes. Well after the destruction of the 2nd Death Star. Daddy you’re as strong as a Wookie as daring as Han Solo as wise as Yoda shirt The Wookie is named Lowbacca. He was the nephew of Chewbacca. He initially studied under Luke Skywalker to become a Jedi. But when Jacen Solo (one of Han and Leia’s twins) turned to the dark side he took Lowbacca with him. but briefly, The New Jedi Order books are some good reading. There were like 23 of them. a lot of them dealt with the Yuuzhan Vong War. But there are some cool main characters like Lowbacca throughout them. He trained under Master Tera Sinube, traveled with Ahsoka Tano to Ilum, and built a lightsaber at “The Gathering,” becoming a Padawan. He helped in a joint smuggler-Jedi battle against General Grievous. He was even present for the fateful duel between Tano and Jedi traitor, Barriss Offee, that led to Ahsoka’s departure from the Jedi Order. Probably because he is a Jedi.
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Jedi try to have good relations with everyone. Daddy you’re as strong as a Wookie as daring as Han Solo as wise as Yoda shirt And Yoda was 900 years old, the guy has time to have a lot of friends in the Galaxy if you know what I mean. So this is not really weird that Yoda has good relations with the Wookies. Tarfful the chieftain and general on Kashyyyk was considered a dear friend by Jedi Master Yoda. So I guess having the leader as a friend helps a lot for good relations. Therefore, it seems probable that an encounter between a Wookiee and a Tampa would take place on Hoth. And in that environment, the Wookiee is at a decided disadvantage. Natural coloration makes him/her stand out in the environment, and if Chewie is a representative example, stealth isn’t a long suit for the species.